function [leftspeed,rightspeed]=v_to_LR(Outputs,aph)
    %aph=0.3;
    leftspeed=Outputs(2)/(1+aph*abs(Outputs(2)));
    rightspeed=Outputs(1)/(1+aph*abs(Outputs(1)));
%     leftspeed=Outputs(1)/(1+aph*abs(Outputs(1)));
%     rightspeed=Outputs(2)/(1+aph*abs(Outputs(2)));
end